#ifndef _CHASSIS_CONTROL_H
#define _CHASSIS_CONTROL_H
#include "stm32f4xx_hal.h"
#include "control_task.h"
#include <math.h>

extern pid_t PID_Chassis_Rotate_Speed;
extern pid_t PID_Chassis_Motor1_Speed;
extern pid_t PID_Chassis_Motor2_Speed;
extern pid_t PID_Chassis_Motor3_Speed;
extern pid_t PID_Chassis_Motor4_Speed;
extern myrampGen_t Rotate_Ramp;

void Chassis_Control(void);
#endif


